Legal claims defining the scope of protection, as filed with the USPTO.
2. The submersible vehicle according to claim 1, wherein the at least one hardware processor is further configured for estimating scattering parameters of the scene from at least one of the first image, the second image, and a third image, based on the computed attenuation coefficients.
3. The submersible vehicle according to claim 1, wherein the at least one hardware processor is further configured for constructing a color-corrected image of the scene, from at least one of the first image, the second image, and the third image, and wherein the constructing uses at least one of the scattering parameters and the attenuation coefficients.
5. The submersible vehicle according to claim 1, wherein the medium is at least one of water, and turbid water.
6. The submersible vehicle according to claim 1, further comprising a second illuminator for performing the second illumination.
7. The submersible vehicle according to claim 1, further comprising an actuator for changing the first illuminator from the first location and first orientation to the different location and different orientation.
8. The submersible vehicle according to claim 1, wherein the least one hardware processor is further configured for (i) acquiring a third image, and (ii) constructing a color-corrected image of the scene from the third image, based on at least one of the computed attenuation coefficients and the scattering parameters of the scene.
9. The submersible vehicle according to claim 1, wherein the least one hardware processor is further configured to correct for vignetting at least one of the first image, the second image, and the third image.
10. The submersible vehicle according to claim 1, wherein the attenuation coefficient is computed based on a subset of the first and second images.
11. The submersible vehicle according to claim 1, wherein the attenuation coefficient is computed based on a median value.
12. The submersible vehicle according to claim 1, wherein the attenuation coefficient is computed using an outlier removal.
13. The submersible vehicle according to claim 12, wherein the subset is an element from the group consisting of at least one scan line, at least one rectangle area, at least one square area, at least one circular area, and at least one polygon area.
14. The submersible vehicle according to claim 13, wherein the subset comprises between 100 and 1,000,000 pixels.
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February 21, 2023
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